Ye Dongdong, Yan Guozheng, Wang Kundong, Ma Guanying
Institute of Precision Engineering and Intelligence Micro-System, School of Electronics and Information Technology, Shanghai Jiao tong University, Shanghai, China.
Minim Invasive Ther Allied Technol. 2008;17(3):181-9. doi: 10.1080/13645700701825662.
This paper develops a new prototype of a wireless micro-robot system for endoscopes. The micro-robot we have fabricated and tested is able to propel itself in the intestine of pig. Its autonomous manner is earthworm-like and driven by linear actuators based on a DC motor. Unlike with conventional micro-robot endoscopes, that wireless module is used for communicating and power transfer. The experimental results show that the driving force of the linear actuator can reach up to 2.55 N and the stable supplying power is up to 480 mW DC power for the receiving coil in the proposed system, which all fulfill the need of the micro-robot system. The micro-robot can creep reliably in the small and large intestine of a pig. The video communication module embedded in the head of the micro-robot can capture the inner picture of the intestine and broadcast it to PC in real-time.
本文开发了一种用于内窥镜的新型无线微型机器人系统原型。我们制造并测试的微型机器人能够在猪的肠道中自行推进。它的自主方式类似蚯蚓，由基于直流电机的线性致动器驱动。与传统的微型机器人内窥镜不同，该无线模块用于通信和能量传输。实验结果表明，在所提出的系统中，线性致动器的驱动力可达2.55 N，接收线圈的稳定供电功率可达480 mW直流功率，这均满足微型机器人系统的需求。该微型机器人能够在猪的小肠和大肠中可靠地蠕动。嵌入微型机器人头部的视频通信模块可以捕捉肠道内部图像并实时传输到电脑上。
